Interchangeable interface, construction robot with interchangeable interface and method for changing a tool

Description

[0001] The invention relates to an exchange interface for the detachable mounting of a tool on a construction robot and to a construction robot as described in the preamble of claim 1 and known from EP 2 716 418 A1.

[0002] To date, construction robots have been designed to perform a specific type of construction work. For example, drilling robots are known that can drill holes in ceilings using a rock drilling machine.

[0003] What would be desirable is a flexible construction robot that can carry out different types of construction work.

[0004] It is known to equip industrial robots with an interchangeable interface so that such industrial robots can perform different industrial manufacturing tasks when equipped with different tools.

[0005] However, such interchangeable interfaces are not suitable for construction robots, or at least only with significant limitations, because on construction sites – unlike industrial manufacturing tasks – significant exposure to dust, dirt, moisture, and the like is always to be expected. Since modern tools, such as stone drilling machines or stone chiseling machines, consume high electrical power, the corresponding power must be safely transferred from the construction robot to the tool to supply the tools. In particular, malfunctions such as short circuits, sparking, or the like must be avoided.

[0006] Furthermore, tools used on construction sites, such as tools for working with rocks such as concrete, generate considerable vibrations.

[0007] Tools should therefore be stable, but still easily removable so that they can be changed on the construction robot.

[0008] The object of the present invention is therefore to provide means and methods for safely mounting tools on a construction robot and, in particular, for changing tools mounted on a construction robot.

[0009] The task is solved by an exchange interfacefor the detachable mounting of a tool on a construction robot which is set up to carry out construction work in building construction, civil engineering and / or steel construction, wherein the change interface has a coupling surface for arranging and / or receiving the tool, and wherein the change interface has a plurality of seals, characterized in that the coupling surface has an outer edge and an inner edge, so that an inner surface is enclosed between the outer edge and the inner edge, wherein the coupling surface has at least one outer seal for sealing towards the outer edge, and at least one inner seal for sealing towards the inner edge.

[0010] The seals can protect the change interface from the ingress of dust, dirt, moisture, or similar substances. This ensures that the tool, especially mechanically, electrically, hydraulically, and / or pneumatically, can be properly connected to the change interface. Short circuits or even sparks can be avoided. Connection points in the change interface for the tool-side connection of lines for compressed air, hydraulic fluid, or similar can remain clean, allowing the lines to be connected to the connection points in a fluid-tight manner.

[0011] The coupling surface also makes it possible to position the tool stably at the change interface so that the tool does not automatically detach from the change interface even in the event of strong vibrations or similar.

[0012] The change interface can have a coupling mechanism. In particular, the change interface can have actuatable fixing elements, such as fixing pins, for releasing or fixing the tool. The fixing pins can be actuated electrically, hydraulically, and / or pneumatically. The fixing elements can be configured to engage in at least one recess of the tool. In particular, they can be configured to hold the tool with a rear grip on the coupling surface.

[0013] The coupling surface can correspond to a head surface of a flange, in particular of a flange that can be actuated for loosening or fixing.

[0014] At least one of the seals is designed to seal against an outer edge of the coupling surface. The seals can preferably be made of an elastic material, such as rubber or an elastic plastic. The seal can be circumferential; for example, it can be shaped as a sealing ring.

[0015] The coupling surface can have one or more connection points for connecting cables. In this case, the seals can enclose one or more of the connection points, so that when the tool is mounted, the connection points in particular are protected from dust, dirt, moisture, or the like.

[0016] The coupling surface has an outer edge and an inner edge, such that an inner surface is enclosed between the outer edge and the inner edge. For example, the coupling surface can be designed as a ring or as a rectangle with an inner recess. A free surface can be formed within the inner edge. At least one line, for example a supply line for the tool, can be and / or can be passed through the free surface or a correspondingly designed through-opening.

[0017] According to the invention, the interchangeable interface comprises a plurality of seals. In particular, the coupling surface comprises at least one seal for sealing the outer edge and at least one seal for sealing the inner edge. Thus, the inner surface and any connection points formed in the inner surface can be protected by the seals when the tool is mounted.

[0018] The tool can have a mating surface complementary to the coupling surface. The seal can then be located between the tool mounted on the coupling surface and the coupling surface. The seal can thus seal the space formed by the seal, the coupling surface, and the mating surface.

[0019] At least one of the seals can be designed as an axial seal. It can be designed, in particular, to seal perpendicularly or substantially perpendicularly to the coupling surface, and thus, if appropriate, parallel to a longitudinal axis of the change interface running perpendicular to the coupling surface. The seal can thus be subject to less wear even with frequent assembly or disassembly of tools to or from the change interface.

[0020] If the exchange interface has a fluid connection leading to the inner surface, a fluid, such as compressed air, can flow into the free space when the tool is mounted, thus building up excess pressure in the free space. Alternatively or additionally, it is also conceivable that excess pressure is built up by compressing at least one seal slightly during tool assembly, so that the free space is reduced as the mating surface approaches the coupling surface, thus compressing the air in the free space.

[0021] A "tool" can be understood as an object that is not part of the construction robot's body and that can be used to expand the robot's functions to perform a construction task, such as a drilling task, a cutting task, a grinding task, or the like. A tool can also be understood as an electric machine tool, such as a machine for drilling, such as a hammer drill; for cutting, such as a saw or angle grinder; for grinding, marking, measuring, or the like.

[0022] For example, it can be a stone drilling machine tool, a stone chiseling machine tool, a setting device, in particular for setting nails, screws and / or dowels into a rock, a cutting machine tool, for example a stone sawing machine tool, a stone grinding machine tool, or a pressing machine tool.

[0023] In particular, tools for processing rock, for example concrete, and for processing metals, for example steel, may be included.

[0024] The tools can be configured, in particular, for use with a construction robot. In particular, they can be configured to be mounted on the exchange interface. For this purpose, they can have the counter surface, which is preferably designed to complement the coupling surface.

[0025] The exchange interface can be configured to transmit operating energy and / or data required to operate the tool.

[0026] "Operating energy" can be understood as the energy required by the tool to perform a primary function, for example, drilling into rock in a rock drilling machine. The operating energy can, in particular, be transmitted with a higher power than that required for transmitting data or signals from the tool to the construction robot or vice versa. The power with which the operating energy is transmitted and / or can be transmitted can, for example, be at least 100 W.

[0027] The data to be transmitted can, for example, relate to properties and / or operating parameters of the tool, for example a required power to be provided, a type of tool, a state of the tool, or the like. It is also conceivable that the data to be transmitted can relate to properties and / or operating parameters of the construction robot and / or properties of a construction task, for example a power that can be provided, a type of construction robot, a state of the construction robot, a dimension, for example a depth or diameter of a borehole to be drilled or a degree of smoothness to be achieved of a surface to be ground, a state of a construction task being performed, for example a depth reached or a quality characteristic of the construction task being performed. The data can also include control signals from the construction robot for controlling the tool and / or control signals from the tool for controlling the construction robot.

[0028] The transmission of operating power and / or data can be wired and / or wireless. For example, it is conceivable that data could be transmitted wirelessly, so that, for example, at least one property of a tool can be queried by the construction robot before the tool is mounted on the changeover interface.

[0029] It can meet at least a protection standard, usually designated IP44, in particular at least IP66.

[0030] The exchange interface can have a vibration damper configured to reduce vibrations of the tool arranged at the exchange interface to the rest of the construction robot, in particular by at least 3 dB, i.e., at least by half. The vibration damper can have a layer of a vibration-damping material. The vibration-damping material can be, at least substantially, elastically and / or plastically deformable. Alternatively or additionally, the vibration damper can also be based on an electric and / or magnetic field.

[0031] The scope of the invention also includes a construction robots,which is designed to carry out construction work in building construction, civil engineering, and / or steel construction, comprising a mobile platform and a manipulator, wherein a changeover interface of the type described above is arranged on the manipulator. Such a construction robot can carry out construction work, such as drilling, grinding, sawing, or pressing, even in environments with considerable dirt or dust or moisture, using a tool mounted on its changeover interface.

[0032] The construction robot has a manipulator. The manipulator can have a multi-axis arm, for example, with at least three, preferably at least six degrees of freedom. To further increase the reach, particularly along a vertical direction, the construction robot can have a lifting device.

[0033] The change interface can be located on an end effector of the manipulator.

[0034] The construction robot can be designed to carry out construction work on a building construction site, a civil engineering construction site and / or a steel construction site, for example an oil drilling platform.

[0035] It can be equipped to perform construction work on a ceiling, wall, and / or floor. It can be designed to mark, drill, cut, chisel, grind, and / or set a construction element.

[0036] The construction robot has a mobile platform. The mobile platform can be motorized. The mobile platform can comprise a wheeled chassis and / or a tracked chassis. The mobile platform can have at least two degrees of freedom. It can also be a flying platform. The construction robot can have at least ten degrees of freedom in total.

[0037] The construction robot may have a controller. The controller may be embodied as a computer. It may have a processor, a memory module, and / or program code executable on the processor. The processor may have one or more subprocessors. The program code may be configured to operate a tool arranged at the exchange interface when executed on the controller.

[0038] In order to prevent dust, dirt, moisture or the like from reaching the exchange interface, it is conceivable that an excess pressure compared to the ambient pressure exists in a free space formed between the coupling surface, at least one of the seals and the tool.

[0039] In one class of construction robots, the construction robot is designed to automatically detach a tool arranged at the change interface and / or to mount a second tool at the change interface.

[0040] For this purpose, the construction robot can have a storage magazine with at least one storage location, in particular for storing a tool. At least one tool, for example the second tool, can be accommodated in the storage magazine. It is conceivable for the construction robot to bring the tool arranged at its change interface to a suitable position in the area of ​​the storage magazine and then detach it from the change interface so that the tool is picked up at a storage location in the storage magazine. The construction robot can then move its change interface to the second tool, mount it at its change interface, and then completely remove it from the storage magazine in order to subsequently carry out construction work with the second tool, for example.

[0041] It is also conceivable for the construction robot to have a suction device for extracting dust, dirt, or the like. The suction device can be formed, at least partially, on the tool. A suction hose can be routed through the exchange interface. For example, the suction hose can run through an interior area defined by the inner edge.

[0042] Further features and advantages of the invention will become apparent from the following detailed description of exemplary embodiments of the invention, based on the figures of the drawing, which illustrate details essential to the invention, and from the claims. The features shown therein are not necessarily to scale and are presented in such a way that the special features of the invention can be clearly seen. The various features can be implemented individually or in combinations in variants of the invention.

[0043] The schematic drawing shows embodiments of the invention and explains them in more detail in the following description. They show:

[0044] Fig. 1 shows a perspective view of a construction robot with a change interface and a tool arranged thereon, Fig. 2 shows a schematic plan view of a change interface, Fig. 3 shows a schematic longitudinal sectional view of a further change interface and Fig. 4 shows a method for changing a tool.

[0045] In the following description of the figures, the same reference numerals are used for identical or functionally corresponding elements to facilitate understanding of the invention.

[0046] Fig. 1 shows a construction robot 10 with a motorized chassis designed as a tracked chassis 12, one in a housing 14 trained control room 16and a manipulator arranged on top of the housing 14 18. The manipulator 18 comprises a lifting device 17 for vertical displacement and a multi-axial controllable arm 19.

[0047] At the free end of the arm 19 there is an end effector 20 with an interchangeable interface 21.

[0048] At the exchange interface 21 there is a tool 24, in particular a stone drilling machine, with a dust extraction device 26, arranged detachably.

[0049] In order to detachably arrange the tool 24 on the change interface 21, it has a connecting section 22 on.

[0050] The exchange interface 21 is designed for the detachable connection of the connecting section 22 and thus also of the tool 24.

[0051] The construction robot 10 is powered by a storage 28,It is powered by a rechargeable, lithium-based battery, making it wirelessly operable.

[0052] Furthermore, the construction robot 10 has a storage magazine 100 The supply magazine 100 has several storage locations 102 The tool 24 can be stored at free storage locations 102 for later reuse if necessary. Other elements, such as additional tools, can also be stored in the storage locations 102 for later use, particularly with the construction robot 10.

[0053] The construction robot 10 has, preferably within the housing 14, a control arranged in the control room 16 36 The controller 36 comprises a memory module 38 and a microprocessor 40.

[0054] The controller 36 is provided with executable program code 42The program code 42 is stored in the memory module 38 and can be called up and executed on the microprocessor 40. Via a communication interface 44 the controller 36 can be a cloud-based computer system (in Fig. 1 not shown) and exchange data, for example data on the type of construction tasks to be carried out, associated position and / or attitude data and / or control commands.

[0055] The construction robot 10 is designed to perform construction tasks, for example, drilling work in ceilings and walls, on a construction site, in particular on a building construction site, a civil engineering site, and / or on a steel construction site, for example, an oil or gas production platform. In particular, the controller 36 can control the manipulator 18 such that construction work on ceilings and walls can be performed. An example of such a construction task can be, for example, drilling a borehole, in particular with a specific drilling depth and / or a specific borehole diameter, into a concrete ceiling using the tool 24 designed as a stone drilling machine.

[0056] The construction robot 10 is configured to automatically detach the tool 24 located at the change interface 21 and to mount a second tool at the change interface 21. Using its manipulator 18, the construction robot 10 can move the tool 24 to a free storage location 102 and then detach it from the change interface 21. The second tool can be picked up from one of the remaining storage locations 102 and mounted at the change interface 21.

[0057] Fig. 2 shows a schematic top view of the exchange interface 21 of the previously described construction robot 10 (see Fig. 1 ).

[0058] The exchange interface 21 has a, in particular flat, coupling surface 48 on.

[0059] In this embodiment, the coupling surface 48 has a keyhole-shaped cross-section. In particular, it has an annular section 50and a rectangular section 52 The annular section 52 has a cross-sectional area 54 so that along a longitudinal direction of the exchange interface 21, in Fig. 2 i.e. perpendicular to the image plane, a through opening 56 results.

[0060] Along an outer edge 58 an external seal runs 60. Along an inner edge 62 an internal seal runs 64. Thus, an interior area 66 by the outer seal 60 on the one hand and the inner seal 64 on the other hand from an environment 68 the exchange interface 21.

[0061] It is conceivable to use the connecting section 22 of the tool 24 (see Fig. 1 ) with a counter surface shaped complementarily to the coupling surface 48 on the coupling surface 48. This can result in a free space 70,bounded by the coupling surface 48, the outer seal 60 and the inner seal 64, as well as the counter surface. The free space 70 thus formed borders the coupling surface 48.

[0062] Within the inner area 66, for example in a central area between the annular section 50 and the rectangular section 52, there is a compressed air nozzle 72. Using the compressed air nozzle 72, compressed air, in particular at a pressure exceeding the air pressure in the surrounding area 68, can be blown into the free space 70. Thus, when the tool 24 is mounted, an overpressure can prevail in the free space 70. The compressed air can, in particular, comprise purified air.

[0063] In the interior area 66 there are also electrical connection points 74,of which, for example, a connection point 74 is marked with a reference symbol. Data and operating power can be transmitted bidirectionally to the mounted tool 24 via the connection points 74. The connection points 74 can, for example, have electrically conductive metal surfaces and / or electrically conductive spring contacts.

[0064] Due to the arrangement of the connection points 74 in the interior area 66, these are also protected against harmful environmental influences such as dust, dirt or moisture by the outer seal 60 and the inner seal 64.

[0065] Additional connecting lines with fluid connections can also be 75 be formed in the interior region 66 to convey fluids, for example compressed air and / or hydraulic fluid, to the tool 24.

[0066] A suction line 76ends in the through hole 56. This can be connected to a corresponding line extension on the mounted tool 24 in order to connect to the dust extraction device 26 (see Fig. 1 ). Dust collected by the dust extraction device 26, for example drilling dust, can then be collected centrally in a collection container or the like of the construction robot 10 via the suction line 76.

[0067] It is also conceivable to guide other, for example application-specific, cables, for example optical fiber packages for laser applications, material feeds or the like, through the through opening 56.

[0068] The outer seal 60 and / or the inner seal 64 can be designed in such a way that they open automatically at a certain critical pressure. Thus, the

[0069] The outer seal 60 and / or the inner seal 64 function as pressure relief valves. The free space 70 can also be blown clean as needed, particularly to clean it of dust, dirt, moisture, or the like. This also minimizes the risk of contamination of the then exposed outer seal 60 and / or the inner seal 64, as well as any remaining area of ​​the exchange interface 21.

[0070] Fig. 3 shows a schematic longitudinal section view of an alternative change interface 21, at which a tool 24 (see Fig. 1 ) with its connecting section 22.

[0071] Unless otherwise stated, this embodiment may include one or more of the features of the previously described embodiments of the exchange interface 21.

[0072] The exchange interface 21 in this embodiment is formed in a ring shape around a longitudinal axis L. A through-opening 56 is formed in its interior.

[0073] A coupling surface 48 can again be seen. In this embodiment, the coupling surface 48 is not flat.

[0074] The outer seal 60 runs along the outer edge 58. The inner seal 64 runs along the inner edge 62. Thus, an inner area 66 by the outer seal 60 on the one hand and the inner seal 64 on the other hand from an environment 68 the exchange interface 21.

[0075] The outer seal 60 and the inner seal 64 are designed as axial seals. They run at least substantially parallel to the longitudinal axis L.

[0076] The connecting section 22 has a counter surface shaped complementarily to the coupling surface 48 78The free space 70 is thus defined by the coupling surface 48, the outer seal 60, the inner seal 64, and the counter surface 78.

[0077] The compressed air nozzle 72 opens into the free space 70.

[0078] Again, several electrical connection points 74 are located on the coupling surface 48, each of which is connected by contact points 80 of the connecting section 22.

[0079] For the forwarding of fluids, several connecting lines with fluid connections 75 are formed in the interior 66. These lead into continuation lines 82 of connecting section 22.

[0080] A suction line 76 in the through opening 56 opens into a suction connection 84, which in turn is connected to the dust extraction device 26 (see Fig. 1 ) is connected.

[0081] Fixing pins 86are mounted displaceably in the change interface 21 perpendicular to the longitudinal axis L and can be controlled, for example, pneumatically or electrically, as in Fig. 3 shown condition in recesses 88 of the connecting section 22, so that the connecting section 22 and thus the tool 24 is releasably fixed to the change interface 21.

[0082] Fig. 4 shows a process 1000 For changing the first tool of a construction robot. After the change, the construction robot can perform the next construction task.

[0083] To explain the method 1000, reference is made to the reference numerals introduced above.

[0084] The method is explained using an example in which a first tool 24 is initially mounted on the manipulator 18 of the construction robot 10 and is to be exchanged for a second tool. The second tool can correspond to the first tool 24. In particular, it can also have a connecting section corresponding to the connecting section 22. For the example, it is further assumed that the first tool 24 is to be deposited at one of the storage locations 102 and the second tool is to be picked up from another of the storage locations 102. The method can in principle also encompass the case in which the same tool 24 is initially disassembled and later reassembled.

[0085] In a first dismantling phase 1010The first tool 24 is placed at a first storage location 102 and removed from the construction robot 10. For this purpose, the change interface 21 is positioned at a corresponding position and location in the area of ​​the respective storage location 102 using the manipulator 18, and the first tool 24 is placed at the storage location 102. The fixing pins 86 are withdrawn from the recesses 88, so that the connecting section 22 of the first tool 24 and thus the first tool 24 as a whole are released from the change interface 21.

[0086] In a subsequent coupling phase 1020 The second tool, in particular its connecting section, is brought closer to the coupling surface 48 of the change interface 21. For this purpose, the change interface 21 is positioned with the aid of the manipulator 18 in the area of ​​the storage location 102 where the second tool, in particular its connecting section, is located.

[0087] Parallel to and / or delayed in time to the approach, in a protection phase 1030 An overpressure is built up in a space adjacent to the coupling surface 48, thereby providing additional protection to the area around the changeover interface 21. For this purpose, compressed air is introduced via the compressed air nozzles 72 on the side of the coupling surface 48.

[0088] If the connecting section of the second tool has not yet contacted the outer seal 60 and the inner seal 64, the compressed air can escape laterally. Any dust, dirt, or the like adhering to the coupling surface 48 and / or the counter surface of the connecting section of the second tool can thereby be entrained, so that the coupling surface 48 and the counter surface are automatically cleaned as the construction robot 10 approaches, in particular the exchange interface 21.

[0089] As soon as the connecting section of the second tool contacts the outer seal 60 and the inner seal 64, i.e., as soon as the free space 70 is formed, an overpressure builds up in the free space 70. Dirt, dust, moisture, or the like present in the environment 68 are then additionally prevented from penetrating the outer seal 60 or the inner seal 64 into the free space 70 and thereby potentially causing malfunctions in the area of ​​the exchange interface 21.

[0090] As soon as the connecting section of the second tool has reached a suitable position and location, in particular as soon as the recesses of the second tool corresponding to the recess 88 are opposite the fixing pins 86, in an assembly phase 1040The second tool is then secured to the change interface 21 and thus finally assembled. For this purpose, the fixing pins 86 can be extended again so that they engage in the respective recesses and secure the connecting section and thus the second tool as a whole to the change interface 21.

[0091] The actuation of the fixing pins 86, in particular the retraction or extension, can be carried out electrically, pneumatically or hydraulically.

[0092] It is conceivable to stop the generation of overpressure, in particular to stop any further compressed air flow, as soon as the pressure in the free space 70 has permanently reached a certain minimum pressure. This can be achieved, for example, during the coupling phase 1020 or during the assembly phase 1040.

[0093] After the second tool is mounted on the change interface 21, the construction robot can be in a working phase 1050Carry out the next construction task, now with the second tool. For example, if the second tool is a stone grinding machine, a rock, such as a concrete wall or concrete ceiling, could be ground.

[0094] Due to the outer seal 60 and the inner seal 64 and, if applicable, the overpressure prevailing in the free space 70, the exchange interface 21 is then protected even in the event of a high level of dirt and / or dust as well as even in the event of considerable moisture, and the construction work can be carried out safely. List of reference symbols

[0095] 10 Construction robot 12 Chassis 14 Housing 16 Control room 17 Lifting device 18 Manipulator 19 Arm 20 End effector 21 Interchangeable interface 22 Connecting section 24 Tool 26 Dust extraction device 28 Memory 36 Controller 38 Memory module 40 Microprocessor 42 Program code 44 Communication interface 48 Coupling surface 50 Annular section 52 Rectangular section 54 Free space 56 Through opening 58 Outer edge 60 Outer seal 62 Inner edge 64 Inner seal 66 Interior area 68 Surroundings 70 Free space 72 Compressed air nozzle 74 Connection point 75 Fluid connection 76 Suction line 78 Counter surface 80 Contact point 82 Continuation line 84 Suction connection 86 Locating pin 88 Recess 100 Storage magazine 102Storage location 1000Procedure 1010Disassembly phase 1020Coupling phase 1030Protection phase 1040Assembly phase 1050Working phase LLongitudinal axis

Claims

1. Changing interface (21) for releasably assembling a tool (24), for example a stone drilling machine, a stone chiselling machine, a setting device, in particular for setting nails, screws and / or dowels in rock, a cutting tool machine, for example a stone sawing machine, a stone grinding machine, a press tool machine, or a gripping tool, on a construction robot (10) which is specified for carrying out construction work in civil engineering, construction engineering and / or steel construction, - wherein the changing interface (21) has a coupling face (48) for disposing and / or receiving the tool (24), - wherein the changing interface (21) has a plurality of seals (60, 64), characterized in that the coupling face (48) has an outer periphery (58) and an inner periphery (62), so that an inner surface is enclosed between the outer periphery (58) and the inner periphery (62), wherein the coupling face (48) has at least one outer seal (60) for sealing in relation to the outer periphery (58), and at least one inner seal (64) for sealing in relation to the inner periphery (62).

2. Changing interface according to Claim 1, characterized in that at least the outer seal (60) or the inner seal (64) is formed as an axial seal.

3. Changing interface according to one of the preceding claims, characterized in that the changing interface (21) has a fluid port, for example a compressed air nozzle (72), which leads to the inner surface.

4. Construction robot (10), which is specified for carrying out construction work in civil engineering, construction engineering and / or steel construction, having a mobile platform and a manipulator (18), wherein a changing interface (21) according to one of the preceding claims is disposed on the manipulator (18).

5. Construction robot according to preceding Claim 4, comprising a tool (24) which is assembled on the changing interface (21).

6. Construction robot according to the preceding claim, characterized in that a positive pressure relative to the ambient pressure prevails in a void (70) formed between the coupling face (48), at least one of the outer seal (60) or inner seal (64), and the tool (24).

7. Construction robot according to one of Claims 4 to 6, characterized in that the construction robot (10) is specified to automatically release a tool (24) disposed on the changing interface (21) from the latter and / or to assemble a second tool on the changing interface (21).